/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_UTIL_COLLISIONFREESAMPLER_HPP_
#define RWSIM_UTIL_COLLISIONFREESAMPLER_HPP_

#include "StateSampler.hpp"

namespace rw { namespace proximity {
    class CollisionDetector;
}}    // namespace rw::proximity

namespace rwsim { namespace util {
    //! @addtogroup rwsim_util
    //! @{

    /**
     * @brief samples another state sampler until it returns a collision free
     * state.
     */
    class CollisionFreeSampler : public StateSampler
    {
      public:
        /**
         * @brief constructor
         * @param sampler [in] the sampler that is to be wrapped
         * @param detector [in] the collision detector
         * @param n [in] max nr of tries pr sample request
         */
        CollisionFreeSampler (StateSampler::Ptr sampler,
                              rw::core::Ptr< rw::proximity::CollisionDetector > detector,
                              int n = -1);

        /**
         * @brief destructor
         */
        virtual ~CollisionFreeSampler ();

        //! @copydoc StateSampler::sample
        bool sample (rw::kinematics::State& state);

        //! @copydoc StateSampler::empty
        bool empty () const { return _sampler->empty (); };

      private:
        StateSampler::Ptr _sampler;
        rw::core::Ptr< rw::proximity::CollisionDetector > _detector;
        int _n;
    };
    //! @}
}}     // namespace rwsim::util
#endif /* FINITESTATESAMPLER_HPP_ */
